/*
 *    Copyright (c) 2014 Xiang Xu <xuxiang@mail.bnu.edu.cn>
 *
 *    Permission is hereby granted, free of charge, to any person
 *    obtaining a copy of this software and associated documentation
 *    files (the "Software"), to deal in the Software without
 *    restriction, including without limitation the rights to use,
 *    copy, modify, merge, publish, distribute, sublicense, and/or sell
 *    copies of the Software, and to permit persons to whom the
 *    Software is furnished to do so, subject to the following
 *    conditions:
 *
 *    The above copyright notice and this permission notice shall be
 *    included in all copies or substantial portions of the Software.
 *
 *    THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
 *    EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES
 *    OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
 *    NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT
 *    HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY,
 *    WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
 *    FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR
 *    OTHER DEALINGS IN THE SOFTWARE.
 */

#include "arguments.h"
#include "pclwraper.h"

#include <fstream>
#include <iostream>

using namespace std;

int main(int argc, char** argv)
{
    Status status;

    // parse parameters
    boost::shared_ptr<Arguments> arguments = boost::shared_ptr<Arguments>(new Arguments);
    status = arguments->Parse(argc, argv);

    if(!status.IsOk())
    {
        cout << status;
        exit(-1);
    }
    else
    {
        cout << "Argments Parsed success.\n";
    }

    // fetch sample parameters
    std::vector<double> leaf_size = arguments->GetSampleLeafSize();

    if(leaf_size.size() != 3)
    {
        cout << "Leaf size not set! Please set \"resample\" option in configure.json file.\n";
    }

    // load raw point cloud
    pcl::PointCloud<pcl::PointXYZ>::Ptr cloud(new pcl::PointCloud<pcl::PointXYZ>);
    PclWraper::LoadPCD(arguments->GetFacadeFile(), cloud);
    cout << "Before resample, #points = " << cloud->points.size() << std::endl;

    // sample ...
    pcl::PointCloud<pcl::PointXYZ>::Ptr sample(new pcl::PointCloud<pcl::PointXYZ>);
    PclWraper::GridSample(cloud, sample, leaf_size[0], leaf_size[1], leaf_size[2]);
    std::cout << "After resample, #points = " << sample->points.size() << std::endl;

    // save
    PclWraper::SavePCD(arguments->GetFacadeFile(), sample);

    return 0;
}
